Wireless quick change end effector system for use with a robot

ABSTRACT

A quick change end effector system for use with a robot includes a quick change end effector configured for application to a task to be completed by a robot, the quick change end effector further comprising an end effector magnet, and a robotic manipulator configured to lock to the end effector, the robotic manipulator further configured to use the end effector to complete the task, the robotic manipulator comprising a manipulator magnet, the manipulator magnet being configured to magnetically attract the end effector magnet, thereby locking the manipulator in a mechanically strong connection to the quick change end effector, wherein upon disengagement of the magnetic attraction locking the manipulator to the quick change end effector, the quick change end effector can be quickly removed from the manipulator.

PRIORITY CLAIM

The present application claims the priority benefit of U.S. provisionalpatent application No. 62/119,085 filed Feb. 20, 2015 and entitled“Wireless Quick Change End Effector System for Use with a Robot,” thedisclosure of which is incorporated herein by reference.

SUMMARY

Embodiments of the invention relate in general to a system for use witha robot comprising a quick change end effector and a roboticmanipulator. More specifically, embodiments of the invention relate to asystem for use with a robot comprising a wireless quick change endeffector and a robotic manipulator.

A quick change end effector system for use with a robot includes: aquick change end effector configured for application to a task to becompleted by a robot, the quick change end effector comprising a toolconfigured to perform a robotic task, the quick change end effectorfurther comprising an end effector magnet; and a robotic manipulatorconfigured to lock to the end effector, the robotic manipulator furtherconfigured to use the end effector to complete the task, the roboticmanipulator comprising a manipulator magnet, the manipulator magnetbeing configured to magnetically attract the end effector magnet,thereby locking the manipulator in a mechanically strong connection tothe quick change end effector, wherein upon disengagement of themagnetic attraction locking the manipulator to the quick change endeffector, the quick change end effector can be quickly removed from themanipulator.

A quick change end effector system for use with a robot includes: aquick change end effector configured for application to a task to becompleted by a robot, the quick change end effector comprising a toolconfigured to perform a robotic task, the quick change end effectorfurther comprising an end effector magnet; a robotic manipulatorconfigured to lock to the end effector, the robotic manipulator furtherconfigured to use the end effector to complete the task, the roboticmanipulator comprising a manipulator magnet that is free to rotaterelative to the manipulator, the manipulator further comprising anactuator configured to rotate the manipulator magnet, the manipulatormagnet being configured to magnetically attract the end effector magnet,thereby locking the manipulator in a mechanically strong connection tothe quick change end effector when the manipulator magnet is in a lockedposition, thereby fixing one or more of a position and an orientation ofthe quick change end effector relative to the manipulator, themanipulator magnet being free to rotate between the locked position andan unlocked position, when the manipulator magnet is in the unlockedposition, the quick change end effector and the manipulator magnethaving no substantial magnetic attraction, and the quick change endeffector can be quickly, cleanly and efficiently removed from themanipulator without the involvement of a human being, the manipulatorfurther comprising a wireless power transmitter, the quick change endeffector further comprising a wireless power receiver configured toreceive power sent by the power transmitter; and a wirelesscommunications element configured to communicate with the end effector.

A quick change end effector system for use with a robot includes: aquick change end effector configured for application to a task to becompleted by a robot, the quick change end effector comprising a toolconfigured to perform the robotic task, the quick change end effectorfurther comprising an end effector magnet; a robotic manipulatorconfigured to lock to the end effector, the robotic manipulator furtherconfigured to use the end effector to complete the task, the roboticmanipulator comprising a manipulator magnet that is not free to moverelative to the manipulator, the manipulator magnet being configured tomagnetically attract the end effector magnet, thereby locking themanipulator into a mechanically strong connection with the quick changeend effector, when the manipulator magnet is not in the proximity of theend effector magnet, the quick change end effector and the manipulatormagnet having no substantial magnetic attraction, and the quick changeend effector can be quickly, cleanly and efficiently removed from themanipulator without the involvement of a human being, the manipulatorfurther comprising a wireless power transmitter, the quick change endeffector further comprising a wireless power receiver configured toreceive power sent by the power transmitter, the manipulator furthercomprises a manipulator sensor, and the quick change end effectorfurther comprises an end effector sensor, the manipulator sensor and theend effector sensor being configured to sense their mutual distance fromeach other, so as to ensure proper locking of the quick change endeffector into the mechanically strong connection with the manipulator byensuring that the distance between the manipulator sensor and the endeffector sensor is minimized; and a wireless communications elementconfigured to communicate with the end effector.

DESCRIPTION OF THE DRAWINGS

The accompanying drawings provide visual representations which will beused to more fully describe various representative embodiments and canbe used by those skilled in the art to better understand therepresentative embodiments disclosed herein and their inherentadvantages. In these drawings, like reference numerals identifycorresponding elements.

FIGS. 1A-1C are a set of pictures depicting a system comprising a quickchange end effector and a robotic manipulator comprising a manipulatormagnet that is free to move relative to the manipulator.

FIGS. 2A-2B are a set of pictures depicting a system comprising a quickchange end effector and a robotic manipulator comprising a manipulatormagnet that is not free to move relative to the manipulator.

DETAILED DESCRIPTION

While the present invention is susceptible of embodiment in manydifferent forms, there is shown in the drawings and will herein bedescribed in detail one or more specific embodiments, with theunderstanding that the present disclosure is to be considered asexemplary of the principles of the invention and not intended to limitthe invention to the specific embodiments shown and described. In thefollowing description and in the several figures of the drawings, likereference numerals are used to describe the same, similar orcorresponding parts in the several views of the drawings.

While the above representative embodiments have been described withcertain components in exemplary configurations, it will be understood byone of ordinary skill in the art that other representative embodimentscan be implemented using different configurations and/or differentcomponents. For example, it will be understood by one of ordinary skillin the art that the order of certain steps and the details of certaincomponents can be altered without substantially impairing thefunctioning of the invention. It is intended, therefore, that thesubject matter in the above description shall be interpreted asillustrative and shall not be interpreted in a limiting sense.

Embodiments of the invention relate in general to a system for use witha robot comprising a quick change end effector and a roboticmanipulator. More specifically, embodiments of the invention relate to asystem for use with a robot comprising a wireless quick change endeffector and a robotic manipulator.

Other embodiments of the invention relate generally to a system for usewith a robot for performing one of more of communicating with andpowering a quick change end effector. Further embodiments of theinvention relate generally to a system for use with a robot forperforming one of more of wirelessly communicating with and wirelesslypowering a quick change end effector.

According to additional embodiments of the invention, the manipulatorcomprises one or more manipulator magnets. According to furtherembodiments of the invention, the quick change end effector is attachedto the manipulator using one or more of the one or more manipulatormagnets.

According to other embodiments of the invention, the manipulator furthercomprises an actuator configured to move one or more of the one or moremanipulator magnets. For example, the actuator comprises an electricactuator. For example, the movement of the one or more manipulatormagnets comprises one or more of rotation, retraction, and anothermovement.

According to further embodiments of the invention, the manipulatorcomprises a manipulator magnet that is not free to move relative to themanipulator. For example, the manipulator comprises a manipulator magnetis not free to rotate relative to the manipulator. According to yetother embodiments of the invention, the manipulator comprises amanipulator magnet that is free to move relative to the manipulator. Forexample, the manipulator comprises a manipulator magnet that is free torotate relative to the manipulator. For example, the manipulator magnethas a locked position and an unlocked position. For example, themanipulator magnet is free to rotate between the locked position and theunlocked position. For example, when the manipulator magnet is in thelocked position, the end effector magnet is locked by magneticattraction to the manipulator magnet. For example, when the manipulatormagnet is in the unlocked position, the magnetic attraction isdisengaged between the quick change end effector magnet and themanipulator magnet, and the quick change end effector can be quicklyremoved from the manipulator. For example, the locked position and theunlocked position may be separated by approximately ninety (90) degrees.For example, the quick change end effector may be held in one or more ofa cup and an edge to avoid movement of the quick change end effectoragainst a face of the manipulator.

According to further embodiments of the invention, the system furthercomprises a communications element configured to communicate with thequick change end effector. For example, the communications element maybe configured to transmit data to the quick change end effector. Forexample, the communications element may be configured to receive datafrom the quick change end effector. For example, the communicationselement may comprise a wireless communications element. For example, thecommunications element may be configured to operate using Infrared DataAssociation (IrDA) wireless communications. For example, thecommunications element may be configured to operate using one or more ofBluetooth, Institute of Electrical and Electronics Engineers (IEEE)802.11 specifications, IEEE 802.15.4 specifications including one ormore of the Zigbee open standard and the WirelessHART open standard, andanother wireless communications protocol.

For example, the communications element is comprised elsewhere in therobot. For example, the communications element is comprised in a roboticcontrol system. For example, the communications element is comprised ina robotic control system located internally to the robot. For example,the communications element is comprised in a robotic control systemlocated externally to the robot.

According to other embodiments of the invention, the system furthercomprises a power transmitter configured to power the quick change endeffector. For example, the power transmitter may be a wireless powertransmitter.

According to still further embodiments of the invention, the powertransmitter uses resonant power transfer. For example, a powertransmitter located near the end of the manipulator inductivelyenergizes a power receiver within the quick change end effector, thustransferring power to the quick change end effector. According toalternative embodiments of the invention, the power transmitter usesinductive power transfer. According to still further embodiments of theinvention, the power transmitter uses one or more of resonant powertransfer and inductive power transfer. For example, a power transmitterlocated near the end of the manipulator transfers energy to a powerreceiver comprised in the quick change end effector. This energytransfer provides operational power to the quick change end effector.

According to further embodiments of the invention, the quick change endeffector comprises one or more of a battery, a capacitor and anothercharge holding device configured to hold a charge. According to furtherembodiments of the invention, the quick change end effector may beattached to a robotic base. For example, the quick change end effectormay be attached to a mobile robotic base.

According to still other embodiments of the invention, the quick changeend effector further comprises a charging device. According to yet otherembodiments of the invention, the charging device is configured tocharge the charge holding device when the quick change end effectorrequires less power than is provided by the power transmitter. Forexample, the charge holding device, for example, the battery, may chargeup so as to be able to provide bursts of additional power above thelimits of the power transmitter.

According to further embodiments of the invention, the manipulator maybe attached to a robotic base. For example, the manipulator may beattached to a mobile robotic base.

According to yet other embodiments of the invention, the quick changeend effector may be selectable from a plurality of candidate quickchange end effectors. For example, the robotic base may comprise one ormore candidate quick change end effectors. For example, a candidatequick change end effector holder can comprise one or more of thecandidate quick change end effectors. For example, the candidate quickchange end effector holder can comprise a candidate quick change endeffector rack. For example, the candidate quick change end effectorholder can be mounted on a robot. For example, the candidate quickchange end effector holder can be mounted on the base of a robot. Forexample, the candidate quick change end effector holder can be mountedon the mobile robotic base.

According to still other embodiments of the invention, the manipulatorcomprises one or more of a Cartesian manipulator, a trapezoidalmanipulator, and another type of manipulator. For example, a limbcomprises the manipulator, the limb further comprising one or morejoints that can be individually controlled. For example, at least one ofthe limbs that comprises one or more individually controlled joints maybe configured to facilitate dexterous manipulation of the limb. Forexample, the limb comprises one or more of an arm, a leg, and anotherlimb.

According to other embodiments of the invention, the manipulator maycomprise a robotic base. For example, the manipulator comprises a mobilerobotic base. For example, the manipulator comprises the mobile roboticbase and further comprises a joint. For example, the joint is configuredto perform one or more of levering the quick change end effector awayfrom the ground plane and lifting the quick change end effector awayfrom the ground plane so that the gripped object does not touch theground. Such embodiments may be useful for applications such as, forexample, harvest automation in which the tool comprises a harvestautomation device.

According to an alternative set of embodiments, the mobile robotic basemay not be constrained to the ground plane. For example, the mobilerobotic base may fly. For example, the mobile robotic base may fly usingone or more propellers. According to another set of embodiments, themanipulator may not be constrained to the ground plane. For example, themanipulator may fly. For example, the manipulator may fly using one ormore propellers.

FIGS. 1A-1C are a set of pictures depicting a system 100 comprising aquick change end effector 110 and a robotic manipulator 115. Themanipulator 115 locks to the end effector 110 and uses the end effector110 to complete a robotic task. For example, the manipulator 115 locksto the end effector 110 and uses the end effector 110 to manipulate anobject (not shown). For example, the robotic manipulator 115 comprises arobotic limb 115. For example, the robotic manipulator 115 comprises oneor more of a robotic arm 115, a robotic leg 115, and another roboticlimb 115. For example, the robotic limb 115 comprises one or more joints(not shown) that can be individually controlled. For example, at leastone of the limbs 115 that comprises one or more individually controlledjoints (not shown) may be configured to facilitate dexterousmanipulation of the limb.

The quick change end effector 110 comprises a tool 120 configured toperform a robotic task. For example, the task is assigned by acontroller (not shown) of the system 100. For example, the robotself-assigns its own task. For example, the task is determined inanother way. For example, the manipulator 115 comprises a Cartesianmanipulator. For example, the manipulator 115 comprises a trapezoidalmanipulator.

The manipulator 115 comprises a manipulator magnet 122 that is free tomove relative to the manipulator 115. In this example, the manipulatorcomprises a manipulator magnet 122 that is free to rotate relative tothe manipulator 115. As shown in FIGS. 1A-1C, the manipulator 115comprises a magnet assembly 123.

FIG. 1A is a picture depicting the system 100 comprising a quick changeend effector 110 and the manipulator 115, where the manipulator 115comprises the manipulator magnet 122 that is free to move relative tothe manipulator 115. For example, as shown in FIG. 1A, the tool 120comprises a gripper 120 configured to grasp one or more objects (notshown) pursuant to the robotic task. Grippers are manufactured by, forexample, Robotiq of Lévis, Quebec, Canada (www.robotiq.com).Alternatively, or additionally, the tool 120 comprises one or more of apaint gun, a welding torch, a cutter, a pair of scissors, a glue gun, astapler, a gripper, and another tool.

As shown in FIG. 1A, the gripper 120 comprises a gripper body 125 andfingers 135A and 135B. Alternatively, the gripper 120 comprises a numberof fingers other than two. For example, the gripper 120 comprises onefinger. For example, the gripper 120 comprises three fingers. One ormore of the fingers may be articulated, so that one or more of the oneor more fingers comprises one or more joints. One or more of the fingersmay be one or more of soft, deformable, and shapeable. For example, oneor more of the fingers may be shapeable using one or more of electricalcurrents, air, and another shaping method. Alternatively, oradditionally, instead of the fingers 135A and 135B, the gripper 120comprises one or more of a hook, a magnet, a vacuum cup, a suctiondevice, a soft adaptive finger device, and another gripping device.

The gripper body 125 comprises one or more motors (not shown) and otherhardware and software as needed to ensure the proper functioning of thegripper 120.

One or more of the gripper fingers 135A and 135B may be articulated, sothat one or more of the one or more gripper fingers 135A and 135Bcomprises one or more joints (not shown). One or more of the gripperfingers 135A and 135B may comprise one or more of a hook (not shown), amagnet (not shown), a vacuum cup (not shown), and another grippingdevice (not shown). The quick change end effector 110 further comprisesan end effector magnet 140.

The manipulator 115 comprises a manipulator magnet 122 having anunlocked position 155. As shown in FIG. 1A, when in the unlockedposition 155, the manipulator magnet 122 is facing approximately ninety(90) degrees away from the end effector magnet 140. Consequently, amanipulator magnetic attraction 160 exerted by the manipulator magnet122 has no substantial effect on the end effector magnet 140. Similarly,an end effector magnetic attraction 165 exerted by the end effectormagnet 140 has no substantial effect on the manipulator magnet 122.

Consequently, when the manipulator magnet 122 is in its unlockedposition 155, the magnetic attraction between the manipulator magnet 122and the end effector magnet 140 is disengaged, and the quick change endeffector 110 can be quickly removed from the manipulator 115,facilitating a quick change to one or more of a different manipulator115 and a different quick change end effector 110.

The manipulator magnet 122 is configured to be rotated from the unlockedposition 155 through an intermediate position 167 to a locked position170 that engages the end effector magnet 140. In the example shown inFIGS. 1A through 1C, the manipulator magnet 122 is configured to berotated from the unlocked position 155 by at least approximately 90degrees through an intermediate position 167 to a locked position 170that engages the end effector magnet 140.

As shown in FIG. 1B, when the manipulator magnet 122 is rotated into thelocked position 170, the manipulator magnet 122 and the end effectormagnet 140 are polarized so that the manipulator magnetic attraction 160exerted by the manipulator magnet 122 attracts the end effector magnet140, contributing to an attractive force 175 between the end effectormagnet 140 and the manipulator magnet 122. Similarly, when themanipulator magnet 122 is in the locked position 170, the end effectormagnetic attraction 165 exerted by the end effector magnet 140 attractsthe manipulator magnet 122, contributing to the attractive force 175between the end effector magnet 140 and the manipulator magnet 122. Theattractive force 175 between the manipulator magnet 122 and the endeffector magnet 140 fixes the end effector magnet 140 in place, therebyfixing one or more of a position and an orientation of the quick changeend effector 110 relative to the manipulator 115.

As shown in FIG. 1C, the attractive force 175 between the end effectormagnet 140 and the manipulator magnet 122 that was created when themanipulator magnet 122 was rotated into the locked position 170 fixesthe end effector magnet 140 in place, thereby fixing the quick changeend effector 110 in place and locking it into a mechanically strongconnection with the manipulator 115.

FIGS. 2A-2B are a set of pictures depicting a system 200 comprising aquick change end effector 110 and a robotic manipulator 115. Themanipulator 115 again locks to the end effector 110 and uses the endeffector 110 to complete a robotic task. For example, the manipulator115 locks to the end effector 110 and uses the end effector 110 tomanipulate an object (not shown).

The quick change end effector 110 again comprises a tool 120 configuredto perform a robotic task. The robotic manipulator 115 is againcomprised in a robot (not shown) and the manipulator 115 is againconfigured to manipulate the robot (not shown).

The manipulator 115 again comprises a manipulator magnet 122 that now isnot free to move relative to the manipulator 115. As shown in FIGS.2A-2B, As shown the manipulator 115 again comprises a magnet assembly123.

FIG. 2A is a picture depicting the system 200 comprising a quick changeend effector 110 and the manipulator 115, where the manipulator 115again comprises the manipulator magnet 122 that is now not free torotate relative to the manipulator 115. For example, as shown in FIG.2A, the tool 120 again comprises a gripper 120 configured to grasp oneor more objects (not shown) pursuant to the robotic task.

As shown in FIG. 2A, the gripper 120 again comprises a gripper body 125and fingers 135A and 135B.

The gripper body 125 comprises one or more motors (not shown) and otherhardware and software as needed to ensure the proper functioning of thegripper 120.

The quick change end effector 110 further comprises an end effectormagnet 140.

The manipulator 115 comprises a manipulator magnet 122. Unlike thesystem shown in FIGS. 1A-1C, the manipulator magnet 122 in FIGS. 2A-2Bdoes not move independently of the manipulator 115. When the manipulatormagnet 122 is not in proximity to the end effector magnet 140, themagnetic attraction between the manipulator magnet 122 and the endeffector magnet 140 is disengaged, and the quick change end effector 110can be quickly removed from the manipulator 115, facilitating a quickchange to one or more of a different manipulator 115 and a differentquick change end effector 110.

As shown in FIG. 2A, the manipulator magnet 122 and the end effectormagnet 140 are polarized so that as the manipulator magnet 122 and theend effector magnet 140 move into proximity to one another, anattractive force 175 grows between the manipulator magnet 122 and theend effector magnet 140. The manipulator magnet 122 attracts the endeffector magnet 140 and conversely the end effector magnet 140 attractsthe manipulator magnet 122. In response to the attractive force 175, ifthe end effector magnet 140 and the manipulator magnet 122 are notalready aligned, the end effector magnet 140 rotates relative to themanipulator magnet 122, causing the end effector 110 and the manipulator115 to rotate relative to each other. For example, as shown in FIG. 2A,the attractive force 175 causes the end effector magnet 140 and thus theend effector 110 to rotate in a counter-clockwise direction 210.

As shown in FIG. 2B, the attractive force 175 between the end effectormagnet 140 and the manipulator magnet 122 increases as the manipulatormagnet 122 and the end effector magnet 140 move into closer proximity toeach other. The attractive force 175 fixes the end effector magnet 140in place relative to the manipulator magnet 122, thereby locking thequick change end effector 110 into a mechanically strong connection withthe manipulator 115.

The manipulator 115 further comprises a manipulator sensor 220. Thequick change end effector 110 further comprises an end effector sensor230. The manipulator sensor 220 and the end effector sensor 230 areconfigured to sense their mutual distance from each other. Themanipulator sensor 220 and the end effector sensor 230 ensure properlocking of the quick change end effector 110 into a mechanically strongconnection with the manipulator 115 by ensuring that the distancebetween the manipulator sensor 220 and the end effector sensor 230 isminimized.

The manipulator 115 further comprises a power transmitter 240. Forexample, the power transmitter 240 is located near the manipulatormagnet 122. Preferably, although not necessarily, the power transmitter240 comprises a wireless power transmitter 240. The power transmitter240 transmits power using one or more of resonant power transfer andinductive power transfer.

The quick change end effector 110 further comprises a power receiver250. For example, the power receiver 250 is located near the endeffector magnet 140. Preferably, although not necessarily, the powerreceiver 250 comprises a wireless power receiver 250. The power receiverreceives power transmitted by the power transmitter 240. The receivedpower provides the quick change end effector 110 with power to operate.

As shown in FIGS. 1A-1C and 2A-2B, the end effector magnet 140 and themanipulator magnet 122 may be self-aligning. The manipulator magnet 122and the end effector magnet 140 may provide an attractive force when inthe locked position. Rotating the manipulator 115 while the quick changeend effector 110 is held static may cause the manipulator magnet 122 andthe end effector magnet 140 to become unaligned, facilitating a quickchange to one or more of another manipulator 115 and another quickchange end effector 110. Rotating the manipulator 115 while the quickchange end effector 110 is held static may create a repulsive force thatmay disengage the quick change end effector 110 from the manipulator115, facilitating a quick change to one or more of another manipulator115 and another quick change end effector 110.

One advantage of the invention is it facilitates a very quick change ofone or more of the manipulator 115 and the quick change end effector110. The quick change can be accomplished cleanly and efficiently andwithout the involvement of a human being. No human being is required,for example, to unbolt an existing connection between the manipulator115 and the quick change end effector 110. Similarly, no human being isrequired to bolt a new connection between the manipulator 115 and thequick change end effector 110.

For example, it will be understood by those skilled in the art thatembodiments of the invention may use other styles and types of endeffectors, both currently known and still to be invented. For example,it will be understood by those skilled in the art that software used bythe wireless quick change end effector for use with a robot may belocated in any location in which it may be accessed by the system. Itwill be further understood by those of skill in the art that the numberof variations of the network, the location of the software, and the likeare virtually limitless. It is intended, therefore, that the subjectmatter in the above description shall be interpreted as illustrative andshall not be interpreted in a limiting sense.

While the above representative embodiments have been described withcertain components in exemplary configurations, it will be understood byone of ordinary skill in the art that other representative embodimentscan be implemented using different configurations and/or differentcomponents. For example, it will be understood by one of ordinary skillin the art that the order of certain steps and certain components can bealtered without substantially impairing the functioning of theinvention.

The representative embodiments and disclosed subject matter, which havebeen described in detail herein, have been presented by way of exampleand illustration and not by way of limitation. It will be understood bythose skilled in the art that various changes may be made in the formand details of the described embodiments resulting in equivalentembodiments that remain within the scope of the invention. It isintended, therefore, that the subject matter in the above descriptionshall be interpreted as illustrative and shall not be interpreted in alimiting sense.

We claim:
 1. A quick change end effector system for use with a robot,comprising: a quick change end effector configured for application to atask to be completed by a robot, the quick change end effector furthercomprising an end effector magnet; and a robotic manipulator configuredto lock to the end effector, the robotic manipulator comprising amanipulator magnet, the manipulator magnet being configured tomagnetically attract the end effector magnet, thereby locking themanipulator to the quick change end effector; wherein: the manipulatormagnet is free to move relative to the manipulator along a rotationalaxis that is perpendicular to a longitudinal axis of the end effectormagnet, and upon disengagement of the magnetic attraction locking themanipulator to the quick change end effector, the quick change endeffector can be removed from the manipulator.
 2. The quick change endeffector system of claim 1, wherein the quick change end effectorcomprises a tool configured to perform the robotic task.
 3. The quickchange end effector system of claim 2, wherein: the tool comprises oneof a paint gun, a welding torch, a cutter, a pair of scissors, a gluegun, a stapler, and a gripper.
 4. The quick change end effector systemof claim 3, wherein: the gripper comprises one or more of one or morefingers, a hook, a magnet, a vacuum cup, a suction device, and a softadaptive finger device.
 5. The quick change end effector system of claim2, wherein: the manipulator magnet is free to move between a lockedposition and an unlocked position.
 6. The quick change end effectorsystem of claim 1, wherein: the manipulator magnet is free to rotatebetween a locked position and an unlocked position.
 7. The quick changeend effector system of claim 6, wherein the locked position and theunlocked position are separated by approximately ninety (90) degrees. 8.The quick change end effector system of claim 6, wherein when themanipulator magnet is in the locked position, the end effector magnet islocked by magnetic attraction to the manipulator magnet, thereby fixingone or more of a position and an orientation of the quick change endeffector relative to the manipulator.
 9. The quick change end effectorsystem of claim 6, wherein when the manipulator magnet is in theunlocked position, the end effector magnet and the manipulator magnethave no substantial magnetic attraction, and the quick change endeffector can be removed from the manipulator.
 10. The quick change endeffector system of claim 6, wherein when the manipulator magnet is inthe unlocked position, the manipulator magnet is facing approximatelyninety (90) degrees away from the end effector magnet.
 11. The quickchange end effector system of claim 1, wherein: the manipulator furthercomprises an actuator configured to move the manipulator magnet.
 12. Thequick change end effector system of claim 11, wherein: the actuator isconfigured to perform one or more of rotating the manipulator magnet andretracting the manipulator magnet.
 13. The quick change end effectorsystem of claim 1, wherein: the quick change end effector is selectablefrom a plurality of candidate quick change end effectors.
 14. The quickchange end effector system of claim 1, wherein: the manipulatorcomprises one or more of a Cartesian manipulator and a trapezoidalmanipulator.
 15. The quick change end effector system of claim 1,further comprising: a communications element configured to communicatewith the end effector.
 16. The quick change end effector system of claim15, wherein the communications element is a wireless communicationselement.
 17. The quick change end effector system of claim 1, wherein:the manipulator further comprises a power transmitter; and the quickchange end effector further comprises a power receiver configured toreceive power sent by the power transmitter.
 18. The quick change endeffector system of claim 17, wherein the power transmitter is a wirelesspower transmitter.
 19. The quick change end effector system of claim 17,wherein the power receiver is a wireless power receiver.